CN106767787A - A kind of close coupling GNSS/INS combined navigation devices - Google Patents

A kind of close coupling GNSS/INS combined navigation devices Download PDF

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Publication number
CN106767787A
CN106767787A CN201611246777.1A CN201611246777A CN106767787A CN 106767787 A CN106767787 A CN 106767787A CN 201611246777 A CN201611246777 A CN 201611246777A CN 106767787 A CN106767787 A CN 106767787A
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module
navigation
satellite
error
ins
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刘肖姬
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Beijing Microelectronic Technology Institute
Mxtronics Corp
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Beijing Microelectronic Technology Institute
Mxtronics Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of close coupling GNSS/INS combined navigation devices.The combined navigation device is combined the inertia device INS of low precision and Global Navigation System GNSS using close coupling method, the defect that inexpensive, low accuracy inertial device increases with time cumulative errors is compensate for, while ensure that the position stability in the region that is blocked in Global Navigation System (GNSS) signal.The present apparatus is mainly by eliminating low accuracy inertial device error, leveling method combination single antenna is surveyed appearance and is initially aligned, tight integration filtering technique and site error modeling technique, its attitude accuracy is ensured to inertia system by the attitude angle timing feedback that single antenna is surveyed the resolving of appearance method, so as to realize the high-performance integrated navigation of low accuracy inertial device, the present apparatus efficiently solves inertial navigation attitude angle and is initially aligned and the combined filter under complex environment, the precision of calculating and the stability of positioning are ensure that simultaneously, anti high overload systematic difference field is expanded, realize low cost, high performance integrated navigation.

Description

A kind of close coupling GNSS/INS combined navigation devices
Technical field
The present invention relates to a kind of close coupling GNSS/INS combined navigation devices, belong to navigation field.
Background technology
The performance and range of application of any navigation equipment have certain limitation, it is impossible to which fully meeting the modern times leads Boat is required.The integrated navigation system that INS inertial navigations and GNSS satellite navigation are constituted, is capable of achieving the mutual supplement with each other's advantages of the two.Profit Shortcoming of the INS errors with time integral is made up with the long-time stability and high accuracy of GNSS.Meanwhile, using the short-term height of INS Precision make up GNSS system be easily disturbed, signal easy losing lock the shortcomings of.Navigation system after combination can realize degree of precision, length Phase reliably navigator fix, and the features such as with low cost, small volume, meet such as unmanned plane self-navigation of some application fields Driving, aircraft navigation and bomb etc. are with a wide range of applications to navigation system requirement in these fields.
At present, the main combination mode used has loose coupling, close coupling and hypercompact coupling.Close coupling is mainly based upon pseudorange With the filtering of pseudorange rates.The position of ephemeris information and the INS output received according to GNSS receiver and speed, are calculated corresponding Pseudorange, pseudorange rates in INS position, the pseudorange and pseudorange rates that it is obtained with GNSS receiver measurement compare, their difference It is worth as the observed quantity of combined system.Filter to enter the error of INS and the error of GNSS receiver by spreading kalman (EKF) Row optimal estimation, is then exported or feedback compensation to INS.For loose coupling, major advantage is not to close coupling Cascaded in the presence of filtering, and resolving uses raw information, pseudorange, pseudorange rates error are uncorrelated, and positioning precision is higher than pine combination, and When satellite number is less than 4, remain to realize positioning.Close coupling is for hypercompact coupling, and structure is simpler, implements Easily.
With developing rapidly for navigation system, inertial navigation can in various occasions for carrier provides real-time attitude information, But because the device of inexpensive, low precision cannot ensure its precision while ensure that attitude reliability, therefore study low Precision INS modules and satellite navigation receiver, develop high performance combined navigation device, realize low cost, high-performance combination The commercialization of navigation system, expands the application field of inexpensive, low accuracy inertial device.
The content of the invention
Technology solve problem of the invention is：Overcome the deficiencies in the prior art, there is provided a kind of close coupling low cost inertia The combined navigation device of device (INS), has merged multiple navigation system, has obtained being suitable for inexpensive, low accuracy inertial device High accuracy, the combined system of high reliability.
Technical solution of the invention is：A kind of close coupling GNSS/INS combined navigation devices, it is characterised in that including： Inertia device, pretreatment module, satellite navigation module, strapdown resolves module, tight integration filtration module, single antenna survey appearance module； Wherein：
Inertia device, for measuring east, north, day tri-axis angular rate and 3-axis acceleration, output to pretreatment module；
Pretreatment module, receives three axis angular rates and 3-axis acceleration information of inertia device output, and elimination is wherein included Deterministic drift and Random Drift Error, afterwards, by treatment after three axis angular rates and 3-axis acceleration be sent to strapdown solution Calculate module；
Satellite navigation module, receive navigation satellite signal, parse satellite ephemeris information, carry out positioning calculation, obtain position, The drift of velocity information, the clock correction of receiver and clock, the pseudorange and pseudorange rates information of satellite, by satellite ephemeris information, the clock of receiver Difference and clock drift, the pseudorange of satellite and pseudorange rates information are sent to tight integration filtration module；
Strapdown resolves module, receives three axis angular rates and acceleration that pretreatment module sends, when static, using leveling method The angle of pitch and roll angle are calculated, the angle of pitch, the roll angle tried to achieve using default initial heading angle and leveling method are completed just Begin alignment, obtains initial attitude matrix；When dynamic, according to predetermined cycle receive single antenna survey the angle of pitch that appearance module sends and Roll angle, course angle, adjust attitude matrix；Afterwards, according to three axis angular rates, acceleration and attitude matrix, resolved using strapdown Method, calculates position, speed, the attitude of combined navigation device；Meanwhile, receive position, speed that tight integration filtration module sends Degree, attitude error correction are modified to calculation result, export accurate position, speed and attitude information, while by speed Information sends to single antenna and surveys appearance module；
Tight integration filtration module, according to the ephemeris information that satellite navigation module sends, calculates position, speed and the victory of satellite Connection resolve module output position, velocity information, be calculated satellite to the pseudorange and pseudorange rates of combined navigation device, by its with The satellite that satellite navigation module measurement is obtained is poor to the pseudorange of combined navigation device, pseudorange rates, and the difference is used as tight integration Filtering observed quantity, position, speed, attitude error correction are calculated using EKF method, are sent to strapdown Resolve module；
Single antenna surveys appearance module, receives the velocity information of strapdown resolves module output, carries out single antenna and surveys appearance, obtains course Angle, the angle of pitch, roll angle are sent to strapdown resolves module according to some cycles.
After the satellite navigation module is positioned first, position, velocity information are sent to inertia device, for inertia device Part is initialized.
Combined navigation device also includes ins error analog module, and the ins error analog module obtains satellite navigation mould Position, velocity information that position, velocity information and the strapdown resolves module that block sends send, set up ins error model, simulate Position, velocity error correction, when the data of satellite navigation module output are unavailable, strapdown resolves module uses the inertial navigation The result that error model is calculated, is modified to calculation result, obtains accurate position, velocity information.
The ins error analog module is carried out using the integrated positioning data of 30s in satellite navigation signals pot life section Binomial fitting method sets up error model.
The inertia device includes gyroscope and accelerometer, and gyroscope is used for measuring obtaining three axis angular rates；Acceleration Meter is used for measuring obtaining 3-axis acceleration.
The pretreatment module is implemented as：Gyroscope is drifted about using being determined property of turntable and is demarcated, removal is true Qualitative error, outlier is removed by the output result after treatment, will remove the data after outlier, adopts the elimination of mean filter real-time noise-reducing Random Drift Error；Random Drift Error is eliminated to the direct use mean filter method of accelerometer.
Compared with the prior art, the invention has the advantages that：
(1), the present invention is pre-processed to inertia device, merges various air navigation aids, improves inexpensive inertia device Positioning precision, breaches the key technologies such as inexpensive inertial device error modeling, filtering and integrated navigation system engineer applied, Expand the application field of inexpensive inertia device.
(2), the present apparatus solves inexpensive, low accuracy inertial device using single antenna survey appearance method cannot sense the earth certainly Turn, the shortcoming of course angle can not be resolved during initial alignment.
(3), the present invention surveys the appearance method quaternary number updating device attitude of feedback composition navigation at regular intervals using single antenna Information, it is ensured that high-precision speed, attitude information, also ensure that the rate-adaptive pacemaker of attitude angle, it is ensured that the stabilization of device Property.
(4), the present apparatus utilizes ins error analog module, establishes ins error model, reduces in satellite navigation not In the case of available, the position of short time, speed, attitude error drift, for the stability of system provides a kind of safeguard measure.
Brief description of the drawings
Fig. 1 is combined navigation device control flow of the present invention；
Fig. 2 is pretreatment module figure；
Fig. 3 compares figure for attitude error；
Fig. 4 is integrated navigation filter error modeling structure schematic diagram.
Specific embodiment
Specific embodiment of the invention is further described in detail below in conjunction with the accompanying drawings.
In recent years, integrated navigation system is widely used.With continuing to develop for science and technology, the inertia of low cost Device gradually dominates the market, however, the inertia device precision of low cost is relatively low, attitude measurement stability is poor, therefore design It is very necessary that certain algorithm improves its precision and stability.
The invention provides a kind of close coupling GNSS/INS combined navigation devices, the device by the inertia device of low precision and Satellite navigation system combines, and by preprocess method, eliminates low accuracy inertial device error, is melted using various navigation system Conjunction technology, improves combination unit positioning precision, improves the stability of combination unit positioning.The device has expanded inexpensive inertia device The use scope of part, combination unit cost is reduced on the basis of Position location accuracy is ensured.
As shown in figure 1, a kind of close coupling GNSS/INS combined navigation devices include：Inertia device, pretreatment module, satellite Navigation module, strapdown resolves module, tight integration filtration module, single antenna survey appearance module.
Modules are described in detail below.
1), inertia device
Inertia device, for measuring east, north, day tri-axis angular rate and acceleration, output to pretreatment module；General inertia Device includes gyroscope and accelerometer, and gyroscope is used for measuring three axis angular rates；Accelerometer is used for measuring 3-axis acceleration. The initial position of inertia device, velocity information, can be by outside input, it is also possible to position it first in satellite navigation module Afterwards, sent to inertia device by satellite navigation module and initialize its position, velocity information.
Inertia device used by the present apparatus has gyroscope and accelerometer.Wherein, gyroscopic drift sensitivity is much larger than ground Revolutions angular speed 4.167*10-3°/s, it is impossible to sense earth rotation.
2), pretreatment module
Main error has ascertainment error and random drift in the original output data of inertia device used in said apparatus Error.Angular speed of the output valve of gyroscope in device in static state much larger than earth autobiography, it is believed that this be by gyroscope from Body drift causes, and conference of drifting about causes calculation result to drift about rapidly, influences positioning precision, particularly low accuracy inertial device Error to combine the unit positioning precision influence more can not be ignored, accordingly, it would be desirable to increase pretreatment module.
Original three axis angular rate and acceleration information that pretreatment module is exported to inertia device, eliminate inertia device output Three axis angular rates and acceleration information in the deterministic drift and Random Drift Error that include, afterwards, by treatment after three axles Angular speed and acceleration are sent to strapdown resolves module.
As shown in Fig. 2 the preprocess method of inertia device is：Gyroscope is drifted about using being determined property of turntable and is demarcated, Removal ascertainment error, outlier is removed by the output result after treatment, will remove the data after outlier, is adopted mean filter and is dropped in real time Make an uproar elimination Random Drift Error.Random Drift Error is eliminated to the direct use mean filter of accelerometer.Inertia device after treatment Part output is sent to strapdown resolves module, carries out strapdown resolving.
The error in the original output of inertia device is eliminated by pretreatment, inertia device measurement is ensured to a certain extent Accuracy, provide more accurate measurement data for follow-up inertia device strapdown is resolved, it is ensured that certainty of measurement.
3), satellite navigation module
Satellite navigation module, receives navigation satellite signal, parses satellite ephemeris information, carries out positioning calculation, is combined Guider position, velocity information, the pseudorange and pseudorange rates information of satellite, by satellite ephemeris information, the pseudorange and pseudorange of satellite Rate information is sent to tight integration filtration module.
Satellite navigation receiver determines the relative distance of certain satellite and user using unidirectional distance-finding method.Assuming that r is Distance between certain satellite and user, PRIt is certain satellite and the pseudorange of user, Δ t is the clock of satellite clock and user clock Difference, while the space coordinates for assuming satellite is (Xi,Yi,Zi), the coordinate of user is (X, Y, Z), is obtained by the computing formula of pseudorange：
Have four unknown numbers, (X, Y, Z, Δ t), at least need four positions of satellite, can using least square method To resolve out position, speed.
4), strapdown resolves module
Due to the inertia device of the low precision used by the present apparatus, its sensitivity is more than earth rotation, it is impossible to sense the earth certainly Turn, it is impossible to initial heading angular alignment is carried out, so the present apparatus judges motion state by acceleration and angular speed in operation； When static, the angle of pitch and roll angle are calculated using leveling method, using bowing that default initial heading angle and leveling method are tried to achieve The elevation angle, roll angle, complete initial alignment, obtain initial attitude matrix；When dynamic, receive single antenna according to the predetermined cycle and survey appearance The angle of pitch and roll angle, course angle that module sends, adjust attitude matrix；Afterwards, according to three axis angular rates, acceleration and attitude Matrix, using strapdown calculation method, calculates position, speed, the attitude of combined navigation device；Meanwhile, receive tight integration filtering The position of module transmission, speed, attitude error correction are modified to calculation result, export accurate position, speed and appearance State information, while velocity information is sent to single antenna surveying appearance module；
Conventional strapdown resolves attitude matrix more new algorithm Euler's horn cupping, direction cosine method and Quaternion Method and rotation arrow Quantity algorithm, wherein Quaternion Method algorithm are simple, and amount of calculation is small.Therefore, the present apparatus carries out attitude matrix renewal using Quaternion Method.
5), tight integration filtration module
The present invention carries out data fusion using tight integration mode, in tight integration mode, is sent according to satellite navigation module Ephemeris information, calculate position, the velocity information of the position of satellite, speed and strapdown resolves module output, be calculated satellite To the pseudorange and pseudorange rates of combined navigation device, the satellite that it is obtained with satellite navigation module measurement to combined navigation device Pseudorange, pseudorange rates are poor, and the difference filters observed quantity as tight integration, is calculated in place using EKF method Put, speed, attitude error correction, be sent to strapdown resolves module；
As described above, the state variable being related in the algorithm be ins error parameter, including position, speed, attitude, Clocking error, it is as follows：
X=[φe φn φu Δλ ΔL ΔVe ΔVn ΔVu Δh δtu δtru]
Wherein, subscript e, n, u are three axial directions under the coordinate system of combined navigation device northeast day；φe、φu、φuIt is combination East orientation, north orientation, the day of guider are to attitude error angle；Δ λ, Δ L, Δ h are longitude, latitude, the height of combined navigation device Site error；ΔVe、ΔVn、ΔVuIt is east orientation, north orientation and sky orientation speed error；δtuWith δ truIt is the clock of satellite navigation receiver Difference and frequency difference, directly obtain from satellite navigation receiver.
The state equation of t is：Wherein, A (t) is coefficient matrix, is missed by inertial navigation Difference propagation equation is directly obtained, and G (t) is continuous system noise profile matrix, is made up of some independent random noise sources, each Individual assuming that is zero-mean equiblibrium mass distribution, and w (t) is system noise vector, and its desired value is zero.
Integrated navigation system provides the pseudorange ρ that satellite navigation is measuredGjWith the calculating pseudorange ρ of inertial navigationij, both gained The difference ρ of the pseudorange for arrivingGj-ρijWith both corresponding pseudorange ratesDifferenceAs the pseudorange of integrated navigation system, Pseudorange rates observed quantity.The device Kalman filtering is in the observational equation of t：
Pseudorange error measurement equation：Zρ(t)=Hρ(t)X(t)+Vρ(t)
Wherein, Zρ(t)=δ ρj=ρGj-ρij, j represents certain satellite in satellite navigation
Hρ(t)=[0j×3 aj1 aj2 0j×2 aj3 0 Hρ1]j×11
aj1=-(RN+h)[ej1cos L sinλ-ej2cos L cosλ]
aj2=(RN+h)[-ej1sin L cosλ-ej2sin L sinλ]+[RN(1-e2)+h]ej3cos L
aj3=ej1cos L cosλ+ej2cos L sinλ+ej3sin L
In formula, RNRadius of curvature in prime vertical, e is eccentricity, and L is integrated navigation and location latitude, and λ is passed through for integrated navigation and location Degree, h be integrated navigation and location highly, ej1In component of the unit measurement vector in X-axis, ej2In unit measurement vector in Y-axis Component, ej3In component of the unit measurement vector on Z axis.
VρT () is white noise sound source.
Pseudorange rates error measurement equation：
Wherein,J represents certain satellite in satellite navigation
bj1=-ej1cosλsin L-ej2sin L sinλ+ej3cos L
bj2=-ej1sinλ+ej2cosλ
bj3=ej1cos L cosλ+ej2cos L sinλ+ej3sin L
L is integrated navigation and location latitude, and λ is integrated navigation and location longitude, ej1The dividing in X-axis in unit measurement vector Amount, ej2In component of the unit measurement vector in Y-axis, ej3In component of the unit measurement vector on Z axis,It is white noise Source.
By pseudo range measurement equation, pseudorange rates measurement equation formula, the measurement equation of integrated navigation system, observed quantity are merged into Then by pseudorange is poor, pseudorange rates difference is constituted, multidimensional measurement vector is formed, the measurement equation of combined system can be expressed as：
Wherein, Z is observed quantity, and H is observing matrix, and V is white noise.
Optimal estimation is carried out to the error of MEMS-INS and the error of GNSS receiver by Kalman filtering recursive algorithm, Obtain the optimal value of position, speed, attitude error, then by estimator to combine the unit position, speed, attitude according to figure 1 is corrected, and exports accurate position, speed, attitude information.6), single antenna surveys appearance module
Single antenna surveys appearance module, receives the velocity information of strapdown resolves module output, carries out single antenna and surveys appearance, obtains course Angle, the angle of pitch, roll angle are sent to strapdown resolves module.
The angle of pitch and roll angle, course angle are obtained using single antenna method measurement, traditional attitude information is by carrier coordinate What system described relative to the anglec of rotation of geographic coordinate system, it is relative to geographic coordinate system by stable coordinates system that single antenna surveys appearance Corner describe, referred to as euler angle.There is document to have been proven that the two difference very little, can be by asking for euler angle To obtain attitude angle information.
The principle that attitude angle is calculated is as follows：
The speed and acceleration of carrier are expressed as v=[ve,vn,vu], a=[ae,an,au], course angle computing formula：
Angle of pitch computing formula：
The computing formula of roll angle：
rs=arcsin (lp)/(| l | | p |)
In formula, l is lifting force acceleration, and work difference institute is shared with the tangential of gravity acceleration g by the tangential component of acceleration a , p is formed by gravity acceleration g and speed v constructions, p=g × v.
The attitude error that the attitude error and strapdown for surveying the resolving of appearance method using single antenna in Fig. 3 comparison means are resolved, Figure left side is that inertial navigation strapdown resolves attitude error, and figure right side is the attitude error that single antenna surveys appearance, it is found that single antenna method is kept away The problem that strapdown inertial attitude error adds up with the time is exempted from.
7), ins error analog module
Combination unit depends merely on low accuracy inertial navigation autonomous positioning under satellite navigation signals loss situation, and its positioning is missed Difference increases with time cumulation, and its position error can reach hundred meter levels in 20s, and velocity error is missed in tens metre per second (m/s)s, attitude Difference is at tens degree, therefore it is necessity that the present apparatus is modeled when available to satellite navigation signals to the autonomous positioning drift of inertial navigation 's.
Ins error analog module obtains position, velocity information and the strapdown resolves module transmission that satellite navigation module sends Position, velocity information, set up ins error model, simulation inertial navigation autonomous station, speed drift error work as satellite navigation module When the data of output are unavailable, strapdown resolves module eliminates inertial navigation autonomous positioning drift error using the ins error model, Obtain accurate position, velocity information.
The main integrated positioning data using 30s in satellite navigation signals pot life section carry out binomial plan in the present invention Conjunction method sets up error model, defend lead dropout when, with fitting curve amendment inertial navigation drift about, ensure within a certain period of time The reliability of positioning of system.Experiment proves that device can be ensured in the case of satellite navigation is disabled, in 20S by the method Positioning precision be not less than 20m, velocity accuracy is not less than 1m/s, and attitude error is within 3 °.
In sum, the present invention is pre-processed using to inertia device, merges various air navigation aids, improves low cost used Property device positioning precision, breach the modeling of inexpensive inertial device error, filtering and integrated navigation system engineer applied etc. Key technology, expands the application field of inexpensive inertia device.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (6)

1. a kind of close coupling GNSS/INS combined navigation devices, it is characterised in that including：Inertia device, pretreatment module, satellite Navigation module, strapdown resolves module, tight integration filtration module, single antenna survey appearance module；Wherein,
Inertia device, for measuring east, north, day tri-axis angular rate and 3-axis acceleration, output to pretreatment module；
Pretreatment module, receives three axis angular rates and 3-axis acceleration information of inertia device output, eliminates wherein comprising really Qualitative drift and Random Drift Error, afterwards, by treatment after three axis angular rates and 3-axis acceleration be sent to strapdown resolve mould Block；
Satellite navigation module, receives navigation satellite signal, parses satellite ephemeris information, carries out positioning calculation, obtains position, speed Information, the clock correction of receiver and clock drift, the pseudorange and pseudorange rates information of satellite, by satellite ephemeris information, the clock correction of receiver and Clock drift, the pseudorange of satellite and pseudorange rates information are sent to tight integration filtration module；
Strapdown resolves module, receives three axis angular rates and acceleration that pretreatment module sends, when static, is calculated using leveling method The angle of pitch and roll angle are obtained, the angle of pitch, the roll angle tried to achieve using default initial heading angle and leveling method complete initial right Standard, obtains initial attitude matrix；When dynamic, receive single antenna according to the predetermined cycle and survey the angle of pitch and the roll that appearance module sends Angle, course angle, adjust attitude matrix；Afterwards, according to three axis angular rates, acceleration and attitude matrix, using strapdown calculation method, Calculate position, speed, the attitude of combined navigation device；Meanwhile, receive position, speed, appearance that tight integration filtration module sends State calibration corrections are modified to calculation result, accurate position, speed and attitude information are exported, while velocity information is sent out Deliver to single antenna and survey appearance module；
Tight integration filtration module, according to the ephemeris information that satellite navigation module sends, calculates position, speed and the strapdown solution of satellite Position, the velocity information of module output are calculated, satellite to the pseudorange and pseudorange rates of combined navigation device is calculated, by itself and satellite The satellite that navigation module measurement is obtained is poor to the pseudorange of combined navigation device, pseudorange rates, and the difference is filtered as tight integration Observed quantity, position, speed, attitude error correction are calculated using EKF method, are sent to strapdown resolving Module；
Single antenna survey appearance module, receive strapdown resolves module output velocity information, carry out single antenna survey appearance, obtain course angle, The angle of pitch, roll angle are sent to strapdown resolves module according to some cycles.
2. a kind of close coupling GNSS/INS combined navigation devices according to claim 1, it is characterised in that the satellite is led After model plane block is positioned first, position, velocity information are sent to inertia device, for inertia device initialization.
3. a kind of close coupling GNSS/INS combined navigation devices according to claim 1, it is characterised in that also including inertial navigation Error simulation module, the ins error analog module obtains position, velocity information and the strapdown solution that satellite navigation module sends Position, velocity information that module sends are calculated, ins error model is set up, analog position, velocity error correction work as satellite navigation When the data of module output are unavailable, the result that strapdown resolves module is calculated using the ins error model, to calculation result It is modified, obtains accurate position, velocity information.
4. a kind of close coupling GNSS/INS combined navigation devices according to claim 1, it is characterised in that the inertial navigation is missed Difference analog module carries out binomial fitting method foundation using the integrated positioning data of 30s in satellite navigation signals pot life section Error model.
5. a kind of close coupling GNSS/INS combined navigation devices according to claim 1, it is characterised in that the inertia device Part includes gyroscope and accelerometer, and gyroscope is used for measuring obtaining three axis angular rates；Accelerometer is used for measuring obtaining three axles Acceleration.
6. a kind of close coupling GNSS/INS combined navigation devices according to claim 5, it is characterised in that the pretreatment Module is implemented as：Gyroscope is drifted about using being determined property of turntable and is demarcated, ascertainment error is removed, after treatment Output result removes outlier, will remove the data after outlier, adopts mean filter real-time noise-reducing and eliminates Random Drift Error；To accelerating Degree meter directly eliminates Random Drift Error using mean filter method.
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CN107248891A (en) * 2017-06-13 2017-10-13 施浒立 Appearance device is surveyed in a kind of direction finding for pointing to monitoring for mobile communication antenna
CN107293186A (en) * 2017-08-03 2017-10-24 中国航空工业集团公司西安飞机设计研究所 A kind of inertial navigation real-time emulation system of training simulators
CN107462904A (en) * 2017-07-28 2017-12-12 东南大学 The high-precision GNSS terminal dynamic detection and localization car and detection method of GNSS and INS fusions
CN108226980A (en) * 2017-12-23 2018-06-29 北京卫星信息工程研究所 Difference GNSS and the adaptive close coupling air navigation aids of INS based on Inertial Measurement Unit
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